{"title":"基于多接近传感器的平面超冗余度机械臂形状自适应研究","authors":"K. Inoue, H. Tani, T. Arai, Y. Mae","doi":"10.1109/SICE.2002.1196528","DOIUrl":null,"url":null,"abstract":"We (2000) have already proposed a distributed control method for hyper-redundant manipulators: a manipulator expands, contracts and bends along the shape of complicated and unknown environment. This method is applied to a planar manipulator consisting of serially connected joint units with many proximity sensors. The sensor can measure the distance to an object in short range. A method of obstacle avoidance in long and narrow space like pipes is proposed. Simulation results show the effectiveness of the method.","PeriodicalId":301855,"journal":{"name":"Proceedings of the 41st SICE Annual Conference. SICE 2002.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Shape adaptation of planar hyper-redundant manipulators to environment using multiple proximity sensors\",\"authors\":\"K. Inoue, H. Tani, T. Arai, Y. Mae\",\"doi\":\"10.1109/SICE.2002.1196528\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We (2000) have already proposed a distributed control method for hyper-redundant manipulators: a manipulator expands, contracts and bends along the shape of complicated and unknown environment. This method is applied to a planar manipulator consisting of serially connected joint units with many proximity sensors. The sensor can measure the distance to an object in short range. A method of obstacle avoidance in long and narrow space like pipes is proposed. Simulation results show the effectiveness of the method.\",\"PeriodicalId\":301855,\"journal\":{\"name\":\"Proceedings of the 41st SICE Annual Conference. SICE 2002.\",\"volume\":\"8 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2002-08-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 41st SICE Annual Conference. SICE 2002.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SICE.2002.1196528\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 41st SICE Annual Conference. SICE 2002.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SICE.2002.1196528","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Shape adaptation of planar hyper-redundant manipulators to environment using multiple proximity sensors
We (2000) have already proposed a distributed control method for hyper-redundant manipulators: a manipulator expands, contracts and bends along the shape of complicated and unknown environment. This method is applied to a planar manipulator consisting of serially connected joint units with many proximity sensors. The sensor can measure the distance to an object in short range. A method of obstacle avoidance in long and narrow space like pipes is proposed. Simulation results show the effectiveness of the method.
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